内外干扰下四旋翼无人机防撞方位编队控制
收稿日期: 2025-12-11
修回日期: 2026-01-23
录用日期: 2026-04-21
网络出版日期: 2026-04-28
Bearing-based collision-avoidance formation control of quadrotor UAVs under internal and external disturbances
Received date: 2025-12-11
Revised date: 2026-01-23
Accepted date: 2026-04-21
Online published: 2026-04-28
针对四旋翼无人机集群在未建模动态与外部扰动下的方位编队控制及成员间防碰撞安全问题，提出一种融合参数自适应方法、分布式扩张状态观测器与倒数控制障碍函数的安全控制方案。在领导者-跟随者框架下，构建状态-扰动估计架构，仅利用无人机之间的方位角、方位角变化率及相对距离信息，在线估计各跟随者的全局位置、速度及所受内外干扰；基于估计状态与期望轨迹构造控制 Lyapunov 函数（CLF），同时设计兼顾相对位置与相对速度的倒数控制障碍函数（RCBF），将二者融入二次规划求解器，实时获得满足安全约束的最优控制量，并证明了规划问题的可行性。8机编队仿真结果表明：在内外干扰下集群能成功完成立方体编队的形成与保持，跟随者间最小距离保持在0.75 m，高于0.5 m的安全阈值，相比改进人工势场法的0.37 m与无防碰撞机制的0.10 m显著提升。所提方案在兼顾编队跟踪精度、抗扰能力与防碰撞安全性方面均具优势，具备良好的工程应用潜力。
关键词： 四旋翼无人机; 方位编队控制; 自适应估计方法; 分布式扩张状态观测器; 无人机防碰撞
周文禹 , 王英杰 , 欧阳辰昊 , 郑子轩 , 岳晓奎 . 内外干扰下四旋翼无人机防撞方位编队控制[J]. 航空学报, 2026 , 47(9) : 533224 -533224 . DOI: 10.7527/S1000-6893.2025.33224
A safe control scheme integrating a parameter adaptation approach， distributed extended state observer and reciprocal control barrier function is proposed to address bearing formation control and inter-agent collision safety issues of quadrotor UAV swarms under unmodeled dynamics and external disturbances. Under the leader-follower architecture， a state-disturbance estimation framework is constructed， which only adopts inter-UAV bearing angles， bearing angular rates and relative distance information to online estimate the global position， velocity as well as internal and external disturbances of each follower. A Control Lyapunov Function （CLF） is formulated according to estimated states and desired trajectories. Meanwhile， a Reciprocal Control Barrier Function （RCBF） considering both relative position and relative velocity is designed. Both functions are incorporated into a quadratic programming solver to acquire optimal control inputs satisfying safety constraints in real time， and the feasibility of the optimization problem is strictly verified theoretically. Simulation results of 8-UAV formation demonstrate that the swarm can accomplish the formation construction and maintenance of cubic topology against internal and external disturbances. The minimum distance among followers remains at 0.75 m， which is higher than the safety threshold of 0.5 m. This value is remarkably superior to 0.37 m of the improved artificial potential field method and 0.10 m of the scheme without collision avoidance mechanism. The proposed strategy possesses comprehensive advantages in formation tracking accuracy， disturbance resistance performance and collision avoidance security， and exhibits favorable practical engineering application prospects.
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